TY  - JOUR
AU  - Cović, V.
AU  - Vesković, M.
AU  - Obradović, Aleksandar
PY  - 2011
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1210
AB  - This paper deals with the instability of steady motions of conservative mechanical systems with cyclic coordinates. The following are applied: Kozlov's generalization of the first Lyapunov's method, as well as Rout's method of ignoration of cyclic coordinates. Having obtained through analysis the Maclaurin's series for the coefficients of the metric tensor, a theorem on instability is formulated which, together with the theorem formulated in Furta (J. Appl. Math. Mech. 50(6):938-944, 1986), contributes to solving the problem of inversion of the Lagrange-Dirichlet theorem for steady motions. The cases in which truncated equations involve the gyroscopic forces are solved, too. The algebraic equations resulting from Kozlov's generalizations of the first Lyapunov's method are formulated in a form including one variable less than was the case in existing literature.
PB  - Springer, Dordrecht
T2  - Meccanica
T1  - On the instability of steady motion
EP  - 863
IS  - 4
SP  - 855
VL  - 46
DO  - 10.1007/s11012-010-9348-2
ER  - 

@article{
author = "Cović, V. and Vesković, M. and Obradović, Aleksandar",
year = "2011",
abstract = "This paper deals with the instability of steady motions of conservative mechanical systems with cyclic coordinates. The following are applied: Kozlov's generalization of the first Lyapunov's method, as well as Rout's method of ignoration of cyclic coordinates. Having obtained through analysis the Maclaurin's series for the coefficients of the metric tensor, a theorem on instability is formulated which, together with the theorem formulated in Furta (J. Appl. Math. Mech. 50(6):938-944, 1986), contributes to solving the problem of inversion of the Lagrange-Dirichlet theorem for steady motions. The cases in which truncated equations involve the gyroscopic forces are solved, too. The algebraic equations resulting from Kozlov's generalizations of the first Lyapunov's method are formulated in a form including one variable less than was the case in existing literature.",
publisher = "Springer, Dordrecht",
journal = "Meccanica",
title = "On the instability of steady motion",
pages = "863-855",
number = "4",
volume = "46",
doi = "10.1007/s11012-010-9348-2"
}

Cović, V., Vesković, M.,& Obradović, A.. (2011). On the instability of steady motion. in Meccanica
Springer, Dordrecht., 46(4), 855-863.
https://doi.org/10.1007/s11012-010-9348-2

Cović V, Vesković M, Obradović A. On the instability of steady motion. in Meccanica. 2011;46(4):855-863.
doi:10.1007/s11012-010-9348-2 .

Cović, V., Vesković, M., Obradović, Aleksandar, "On the instability of steady motion" in Meccanica, 46, no. 4 (2011):855-863,
https://doi.org/10.1007/s11012-010-9348-2 . .

TY  - JOUR
AU  - Obradović, Aleksandar
AU  - Cović, V.
AU  - Vesković, M.
AU  - Dražić, Milan
PY  - 2010
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1110
AB  - The brachistochrone problem of the rheonomic mechanical system whose motion is subject to nonholonomic constraints is solved with nonlinear differential equations of motion. Apart from control forces, the system is influenced by the action of other known potential and nonpotential forces as well. The problem of optimal control is solved by applying Pontryagin's Maximum Principle and the singular optimal control theory. This procedure results in the two-point boundary value problem for the system of ordinary nonlinear differential equations of the first order, with a corresponding number of initial and end conditions. This paper determines the control forces that are realized by imposing on the system a corresponding number of independent ideal holonomic constraints, without the action of active control forces. These constraints must be in accordance with the previously determined brachistochronic motion. The method is illustrated with a single complex example that represents the first known concrete demonstration of brachistochronic motion of the nonholonomic rheonomic mechanical system.
PB  - Springer Wien, Wien
T2  - Acta Mechanica
T1  - Brachistochronic motion of a nonholonomic rheonomic mechanical system
EP  - 304
IS  - 3-4
SP  - 291
VL  - 214
DO  - 10.1007/s00707-010-0295-8
ER  - 

@article{
author = "Obradović, Aleksandar and Cović, V. and Vesković, M. and Dražić, Milan",
year = "2010",
abstract = "The brachistochrone problem of the rheonomic mechanical system whose motion is subject to nonholonomic constraints is solved with nonlinear differential equations of motion. Apart from control forces, the system is influenced by the action of other known potential and nonpotential forces as well. The problem of optimal control is solved by applying Pontryagin's Maximum Principle and the singular optimal control theory. This procedure results in the two-point boundary value problem for the system of ordinary nonlinear differential equations of the first order, with a corresponding number of initial and end conditions. This paper determines the control forces that are realized by imposing on the system a corresponding number of independent ideal holonomic constraints, without the action of active control forces. These constraints must be in accordance with the previously determined brachistochronic motion. The method is illustrated with a single complex example that represents the first known concrete demonstration of brachistochronic motion of the nonholonomic rheonomic mechanical system.",
publisher = "Springer Wien, Wien",
journal = "Acta Mechanica",
title = "Brachistochronic motion of a nonholonomic rheonomic mechanical system",
pages = "304-291",
number = "3-4",
volume = "214",
doi = "10.1007/s00707-010-0295-8"
}

Obradović, A., Cović, V., Vesković, M.,& Dražić, M.. (2010). Brachistochronic motion of a nonholonomic rheonomic mechanical system. in Acta Mechanica
Springer Wien, Wien., 214(3-4), 291-304.
https://doi.org/10.1007/s00707-010-0295-8

Obradović A, Cović V, Vesković M, Dražić M. Brachistochronic motion of a nonholonomic rheonomic mechanical system. in Acta Mechanica. 2010;214(3-4):291-304.
doi:10.1007/s00707-010-0295-8 .

Obradović, Aleksandar, Cović, V., Vesković, M., Dražić, Milan, "Brachistochronic motion of a nonholonomic rheonomic mechanical system" in Acta Mechanica, 214, no. 3-4 (2010):291-304,
https://doi.org/10.1007/s00707-010-0295-8 . .

TY  - JOUR
AU  - Cović, V.
AU  - Vesković, M.
AU  - Djurić, D.
AU  - Obradović, Aleksandar
PY  - 2010
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1076
AB  - Lyapunov's first method, extended by V. V. Kozlov to nonlinear mechanical systems, is applied to the study of the instability of the position of equilibrium of a mechanical system moving in the field of conservative and dissipative forces. The motion of the system is limited by ideal nonlinear nonholonomic constraints. Five cases determined by the relationship between the degree of the first nontrivial polynomials in Maclaurin's series for the potential energy and the functions that can be generated from the equations of nonlinear nonholonomic constraints are analyzed. In the three cases, the theorem on the instability of the position of equilibrium of nonholonomic systems with linear homogeneous constraints (V. V. Kozlov (1986)) is generalized to the case of nonlinear nonhomogeneous constraints. In the other two cases, new theorems are set extending the result from V. V. Kozlov (1994) to nonholonomic systems with nonlinear constraints.
PB  - SHANGHAI UNIV, SHANGHAI
T2  - Applied Mathematics and Mechanics-English Edition
T1  - On the stability of equilibria of nonholonomic systems with nonlinear constraints
EP  - 760
IS  - 6
SP  - 751
VL  - 31
DO  - 10.1007/s10483-010-1309-7
ER  - 

@article{
author = "Cović, V. and Vesković, M. and Djurić, D. and Obradović, Aleksandar",
year = "2010",
abstract = "Lyapunov's first method, extended by V. V. Kozlov to nonlinear mechanical systems, is applied to the study of the instability of the position of equilibrium of a mechanical system moving in the field of conservative and dissipative forces. The motion of the system is limited by ideal nonlinear nonholonomic constraints. Five cases determined by the relationship between the degree of the first nontrivial polynomials in Maclaurin's series for the potential energy and the functions that can be generated from the equations of nonlinear nonholonomic constraints are analyzed. In the three cases, the theorem on the instability of the position of equilibrium of nonholonomic systems with linear homogeneous constraints (V. V. Kozlov (1986)) is generalized to the case of nonlinear nonhomogeneous constraints. In the other two cases, new theorems are set extending the result from V. V. Kozlov (1994) to nonholonomic systems with nonlinear constraints.",
publisher = "SHANGHAI UNIV, SHANGHAI",
journal = "Applied Mathematics and Mechanics-English Edition",
title = "On the stability of equilibria of nonholonomic systems with nonlinear constraints",
pages = "760-751",
number = "6",
volume = "31",
doi = "10.1007/s10483-010-1309-7"
}

Cović, V., Vesković, M., Djurić, D.,& Obradović, A.. (2010). On the stability of equilibria of nonholonomic systems with nonlinear constraints. in Applied Mathematics and Mechanics-English Edition
SHANGHAI UNIV, SHANGHAI., 31(6), 751-760.
https://doi.org/10.1007/s10483-010-1309-7

Cović V, Vesković M, Djurić D, Obradović A. On the stability of equilibria of nonholonomic systems with nonlinear constraints. in Applied Mathematics and Mechanics-English Edition. 2010;31(6):751-760.
doi:10.1007/s10483-010-1309-7 .

Cović, V., Vesković, M., Djurić, D., Obradović, Aleksandar, "On the stability of equilibria of nonholonomic systems with nonlinear constraints" in Applied Mathematics and Mechanics-English Edition, 31, no. 6 (2010):751-760,
https://doi.org/10.1007/s10483-010-1309-7 . .

TY  - JOUR
AU  - Cović, V.
AU  - Vesković, M.
AU  - Obradović, Aleksandar
PY  - 2010
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1071
AB  - The first Lyapunov method, extended by V. Kozlov to nonlinear mechanical systems, is applied to the study of the instability of the equilibrium position of a mechanical system moving in the field of potential and dissipative forces. The motion of the system is subject to the action of the ideal linear nonholonomic nonhomogeneous constraints. Five theorems on the instability of the equilibrium position of the above mentioned system are formulated. The theorem formulated in [V. V. Kozlov, On the asymptotic motions of systems with dissipation, J. Appl. Math. Mech. 58 (5) (1994) 787-792], which refers to the instability of the equilibrium position of the holonomic scleronomic mechanical system in the field of potential and dissipative forces, is generalized to the case of nonholonomic systems with linear nonhomogeneous constraints. In other theorems the algebraic criteria of the Kozlov type are transformed into a group of equations required only to have real solutions. The existence of such solutions enables the fulfillment of all conditions related to the initial algebraic criteria. Lastly, a theorem on instability has also been formulated in the case where the matrix of the dissipative function coefficients is singular in the equilibrium position. The results are illustrated by an example.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Mathematical and Computer Modelling
T1  - On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints
EP  - 1106
IS  - 9-10
SP  - 1097
VL  - 51
DO  - 10.1016/j.mcm.2009.12.017
ER  - 

@article{
author = "Cović, V. and Vesković, M. and Obradović, Aleksandar",
year = "2010",
abstract = "The first Lyapunov method, extended by V. Kozlov to nonlinear mechanical systems, is applied to the study of the instability of the equilibrium position of a mechanical system moving in the field of potential and dissipative forces. The motion of the system is subject to the action of the ideal linear nonholonomic nonhomogeneous constraints. Five theorems on the instability of the equilibrium position of the above mentioned system are formulated. The theorem formulated in [V. V. Kozlov, On the asymptotic motions of systems with dissipation, J. Appl. Math. Mech. 58 (5) (1994) 787-792], which refers to the instability of the equilibrium position of the holonomic scleronomic mechanical system in the field of potential and dissipative forces, is generalized to the case of nonholonomic systems with linear nonhomogeneous constraints. In other theorems the algebraic criteria of the Kozlov type are transformed into a group of equations required only to have real solutions. The existence of such solutions enables the fulfillment of all conditions related to the initial algebraic criteria. Lastly, a theorem on instability has also been formulated in the case where the matrix of the dissipative function coefficients is singular in the equilibrium position. The results are illustrated by an example.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Mathematical and Computer Modelling",
title = "On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints",
pages = "1106-1097",
number = "9-10",
volume = "51",
doi = "10.1016/j.mcm.2009.12.017"
}

Cović, V., Vesković, M.,& Obradović, A.. (2010). On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints. in Mathematical and Computer Modelling
Pergamon-Elsevier Science Ltd, Oxford., 51(9-10), 1097-1106.
https://doi.org/10.1016/j.mcm.2009.12.017

Cović V, Vesković M, Obradović A. On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints. in Mathematical and Computer Modelling. 2010;51(9-10):1097-1106.
doi:10.1016/j.mcm.2009.12.017 .

Cović, V., Vesković, M., Obradović, Aleksandar, "On the instability of equilibrium of nonholonomic systems with nonhomogeneous constraints" in Mathematical and Computer Modelling, 51, no. 9-10 (2010):1097-1106,
https://doi.org/10.1016/j.mcm.2009.12.017 . .

TY  - JOUR
AU  - Vasić, Vasilije S.
AU  - Lazarević, Mihailo
PY  - 2008
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/798
AB  - Danas, moderni proizvodi predstavljaju sveobuhvatne mehaničke sisteme sa kompletnom integrisanom elektronikom i informacionom tehnologijom (IT). Takvi proizvodi, koji se smatraju mehatroničkim proizvodima, zahtevaju drugi pristup za efikasan razvoj kao čisto mehanički, elektronski-električni ili IT proizvodi. Industrijski i naučni razvoj mehatroničkih proizvoda dovode do značajnog iskustva i kao prirodna posledica primene industrijskih uputstava pojavljuje se u projektovanju proizvoda kao što su mehatronički proizvodi. Široko prihvaćena industrijska uputstva predlažu važne korake i mere sa ciljem efikasnog finaliziranja i sa cenom prihvatljivih mehatroničkih proizvoda. Na kraju, pored prezentacije i komentara na predstavljena industrijska uputstva, ilustrovana je praktična primena na primeru veš mašina. .
AB  - Modern products are comprehensive mechanical systems with fully integrated electronics and information technology (IT). Such products, which are considered mechatronic products, demand another approach for efficient development as pure mechanical, electronic/electric and IT products. Industrial and scientific evolutions of mechatronic products have led to substantial experience and as a natural consequence industrial guideline have emerged for the product design of mechatronic products. Widely accepted industrial guidelines proposed crucial steps and measures to finalize efficient and cost-efficient mechatronic products. Aside from the presentation of and comments on such industrial guidelines, some examples for practical application are also given - washing machines. .
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Standardna industrijska uputstva za mehatroničko projektovanje proizvoda
T1  - Standard industrial guideline for mechatronic product design
EP  - 108
IS  - 3
SP  - 103
VL  - 36
UR  - https://hdl.handle.net/21.15107/rcub_machinery_798
ER  - 

@article{
author = "Vasić, Vasilije S. and Lazarević, Mihailo",
year = "2008",
abstract = "Danas, moderni proizvodi predstavljaju sveobuhvatne mehaničke sisteme sa kompletnom integrisanom elektronikom i informacionom tehnologijom (IT). Takvi proizvodi, koji se smatraju mehatroničkim proizvodima, zahtevaju drugi pristup za efikasan razvoj kao čisto mehanički, elektronski-električni ili IT proizvodi. Industrijski i naučni razvoj mehatroničkih proizvoda dovode do značajnog iskustva i kao prirodna posledica primene industrijskih uputstava pojavljuje se u projektovanju proizvoda kao što su mehatronički proizvodi. Široko prihvaćena industrijska uputstva predlažu važne korake i mere sa ciljem efikasnog finaliziranja i sa cenom prihvatljivih mehatroničkih proizvoda. Na kraju, pored prezentacije i komentara na predstavljena industrijska uputstva, ilustrovana je praktična primena na primeru veš mašina. ., Modern products are comprehensive mechanical systems with fully integrated electronics and information technology (IT). Such products, which are considered mechatronic products, demand another approach for efficient development as pure mechanical, electronic/electric and IT products. Industrial and scientific evolutions of mechatronic products have led to substantial experience and as a natural consequence industrial guideline have emerged for the product design of mechatronic products. Widely accepted industrial guidelines proposed crucial steps and measures to finalize efficient and cost-efficient mechatronic products. Aside from the presentation of and comments on such industrial guidelines, some examples for practical application are also given - washing machines. .",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Standardna industrijska uputstva za mehatroničko projektovanje proizvoda, Standard industrial guideline for mechatronic product design",
pages = "108-103",
number = "3",
volume = "36",
url = "https://hdl.handle.net/21.15107/rcub_machinery_798"
}

Vasić, V. S.,& Lazarević, M.. (2008). Standardna industrijska uputstva za mehatroničko projektovanje proizvoda. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 36(3), 103-108.
https://hdl.handle.net/21.15107/rcub_machinery_798

Vasić VS, Lazarević M. Standardna industrijska uputstva za mehatroničko projektovanje proizvoda. in FME Transactions. 2008;36(3):103-108.
https://hdl.handle.net/21.15107/rcub_machinery_798 .

Vasić, Vasilije S., Lazarević, Mihailo, "Standardna industrijska uputstva za mehatroničko projektovanje proizvoda" in FME Transactions, 36, no. 3 (2008):103-108,
https://hdl.handle.net/21.15107/rcub_machinery_798 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Spasić, Aleksandar
AU  - Bučanović, Ljubiša
AU  - Krsitć, Dimitrije
PY  - 2008
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5220
AB  - In this paper, a PIalphaD beta type of iterative learning feedback control is proposed for class -
fractional linear time invariant system. The learning control scheme comprises two types of
control laws: a PDalpha feedback law and a PIalphaDbeta feed-forward control law.A sufficient
condition for convergence of a proposed ILC will be given by the theorem and proved.Using
feedback loop, the PDalpha controller provides better stability of the system and keeps its state
errors within uniform bounds.
PB  - Prague:  Czech society  of chemical engineering
C3  - Proceedings of  18th International Congress of Chemical and Process Engineering 24th - 28th August 2008, Prague - Czech Republic
T1  - Iterative learning feedback control algorithms of PIalpha Dbeta type in process control systems
EP  - 8
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_5220
ER  - 

@conference{
author = "Lazarević, Mihailo and Spasić, Aleksandar and Bučanović, Ljubiša and Krsitć, Dimitrije",
year = "2008",
abstract = "In this paper, a PIalphaD beta type of iterative learning feedback control is proposed for class -
fractional linear time invariant system. The learning control scheme comprises two types of
control laws: a PDalpha feedback law and a PIalphaDbeta feed-forward control law.A sufficient
condition for convergence of a proposed ILC will be given by the theorem and proved.Using
feedback loop, the PDalpha controller provides better stability of the system and keeps its state
errors within uniform bounds.",
publisher = "Prague:  Czech society  of chemical engineering",
journal = "Proceedings of  18th International Congress of Chemical and Process Engineering 24th - 28th August 2008, Prague - Czech Republic",
title = "Iterative learning feedback control algorithms of PIalpha Dbeta type in process control systems",
pages = "8-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_5220"
}

Lazarević, M., Spasić, A., Bučanović, L.,& Krsitć, D.. (2008). Iterative learning feedback control algorithms of PIalpha Dbeta type in process control systems. in Proceedings of  18th International Congress of Chemical and Process Engineering 24th - 28th August 2008, Prague - Czech Republic
Prague:  Czech society  of chemical engineering., 1-8.
https://hdl.handle.net/21.15107/rcub_machinery_5220

Lazarević M, Spasić A, Bučanović L, Krsitć D. Iterative learning feedback control algorithms of PIalpha Dbeta type in process control systems. in Proceedings of  18th International Congress of Chemical and Process Engineering 24th - 28th August 2008, Prague - Czech Republic. 2008;:1-8.
https://hdl.handle.net/21.15107/rcub_machinery_5220 .

Lazarević, Mihailo, Spasić, Aleksandar, Bučanović, Ljubiša, Krsitć, Dimitrije, "Iterative learning feedback control algorithms of PIalpha Dbeta type in process control systems" in Proceedings of  18th International Congress of Chemical and Process Engineering 24th - 28th August 2008, Prague - Czech Republic (2008):1-8,
https://hdl.handle.net/21.15107/rcub_machinery_5220 .